control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
main.cpp@3:47c76be6d402, 2015-10-05 (annotated)
- Committer:
- annesteenbeek
- Date:
- Mon Oct 05 16:01:21 2015 +0200
- Revision:
- 3:47c76be6d402
- Parent:
- 1:80f098c05d4b
- Child:
- 5:73bfad06b775
pin layout set and motorControl
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 0:525558a26464 | 1 | #include "PID.h" |
annesteenbeek | 0:525558a26464 | 2 | #include "QEI.h" |
annesteenbeek | 0:525558a26464 | 3 | #include "mbed.h" |
annesteenbeek | 3:47c76be6d402 | 4 | #include "encoder.h" |
annesteenbeek | 0:525558a26464 | 5 | #include "config.h" // settings and pin configurations |
annesteenbeek | 0:525558a26464 | 6 | |
annesteenbeek | 0:525558a26464 | 7 | |
annesteenbeek | 3:47c76be6d402 | 8 | // #define DEBUG // send debug data to serial console |
annesteenbeek | 0:525558a26464 | 9 | |
annesteenbeek | 1:80f098c05d4b | 10 | #ifdef DEBUG |
annesteenbeek | 3:47c76be6d402 | 11 | #include "HIDScope.h" |
annesteenbeek | 3:47c76be6d402 | 12 | HIDScope scope(1); |
annesteenbeek | 1:80f098c05d4b | 13 | #endif |
annesteenbeek | 1:80f098c05d4b | 14 | |
annesteenbeek | 1:80f098c05d4b | 15 | enablePins(); |
annesteenbeek | 0:525558a26464 | 16 | motorInit(); |
annesteenbeek | 0:525558a26464 | 17 | |
annesteenbeek | 0:525558a26464 | 18 | int main() |
annesteenbeek | 0:525558a26464 | 19 | { |
annesteenbeek | 1:80f098c05d4b | 20 | Timer time; // create timer object |
annesteenbeek | 1:80f098c05d4b | 21 | time.start(); // start the timer |
annesteenbeek | 1:80f098c05d4b | 22 | |
annesteenbeek | 0:525558a26464 | 23 | while (true) { |
annesteenbeek | 3:47c76be6d402 | 24 | // checkSwitches(); |
annesteenbeek | 3:47c76be6d402 | 25 | // readEMG(); |
annesteenbeek | 0:525558a26464 | 26 | motorControl(); |
annesteenbeek | 3:47c76be6d402 | 27 | // servoControl(); |
annesteenbeek | 3:47c76be6d402 | 28 | |
annesteenbeek | 0:525558a26464 | 29 | #ifdef DEBUG |
annesteenbeek | 0:525558a26464 | 30 | debugProcess(); |
annesteenbeek | 0:525558a26464 | 31 | #endif |
annesteenbeek | 0:525558a26464 | 32 | } |
annesteenbeek | 0:525558a26464 | 33 | } |